/***************************************************
This is the header file for a PID program based off 
****************************************************/


#ifndef PID_h
#define PID_h

#include "Arduino.h"
    
class PID
{   
  public:
    
    //Constructor
    PID();
   
    float Calculate(float input, float target, float scaler, float Kd, float Ki, float Kp);
    
    
    
  //Variables/functions only used by the PID
  private:
    
    unsigned long currentTime;
    unsigned long previousTime;
    unsigned long dTime;
    
    float error;
    float lastError;
    
    float derivative;
    float integral;
    
    float output;
    
    
};
#endif
